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<p><code>#include &lt;<a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html">PositionVelocityEstimator.h</a>&gt;</code></p>
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<tr class="memitem:a6fcb890559e303e4c8e13cef4dd6c4d9"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a6fcb890559e303e4c8e13cef4dd6c4d9">LinearKFPositionVelocityEstimator</a> ()</td></tr>
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<tr class="memitem:a5a71e5a86165a39dda4c6ad81304299a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5a71e5a86165a39dda4c6ad81304299a">run</a> ()</td></tr>
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<tr class="memitem:aa6cde24b1d9be72b01cfae1534e7580f"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#aa6cde24b1d9be72b01cfae1534e7580f">setup</a> ()</td></tr>
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<tr class="inherit_header pub_methods_class_generic_estimator"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_generic_estimator')"><img src="../../closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="../../d9/d0a/class_generic_estimator.html">GenericEstimator&lt; T &gt;</a></td></tr>
<tr class="memitem:a27ade6b2befdee9b901a9faf35e5dc16 inherit pub_methods_class_generic_estimator"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0a/class_generic_estimator.html#a27ade6b2befdee9b901a9faf35e5dc16">setData</a> (<a class="el" href="../../d1/d0d/struct_state_estimator_data.html">StateEstimatorData</a>&lt; T &gt; data)</td></tr>
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Private Attributes</h2></td></tr>
<tr class="memitem:ac76b7ba72dc4685b9d02ecfea214ebbe"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix&lt; T, 18, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac76b7ba72dc4685b9d02ecfea214ebbe">_xhat</a></td></tr>
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<tr class="memitem:a6b6067ad1d05d06aba1c8e74790fc6fc"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix&lt; T, 12, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a6b6067ad1d05d06aba1c8e74790fc6fc">_ps</a></td></tr>
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<tr class="memitem:a8fd165d0d57d1a13849922a6135b35d0"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix&lt; T, 12, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a8fd165d0d57d1a13849922a6135b35d0">_vs</a></td></tr>
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<tr class="memitem:a99444a1a5c61d86da6c17a42591521cf"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix&lt; T, 18, 18 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">_A</a></td></tr>
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<tr class="memitem:ad64c01c5946ece39909399d8c0cb08f1"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix&lt; T, 18, 18 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ad64c01c5946ece39909399d8c0cb08f1">_Q0</a></td></tr>
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<tr class="memitem:ac348c53b1045126d25f36e77cf5f946a"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix&lt; T, 18, 18 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">_P</a></td></tr>
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<tr class="memitem:ab9718e7e2b7b50aaa897c9d7c188ff53"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix&lt; T, 28, 28 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ab9718e7e2b7b50aaa897c9d7c188ff53">_R0</a></td></tr>
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<tr class="memitem:a575646ecd05c8a10ccaded17c864fb4a"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix&lt; T, 18, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a575646ecd05c8a10ccaded17c864fb4a">_B</a></td></tr>
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<tr class="memitem:a5126ad3aca4468ee6c770a62bf8fa09f"><td class="memItemLeft" align="right" valign="top">Eigen::Matrix&lt; T, 28, 18 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5126ad3aca4468ee6c770a62bf8fa09f">_C</a></td></tr>
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<tr class="inherit_header pub_attribs_class_generic_estimator"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_class_generic_estimator')"><img src="../../closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="../../d9/d0a/class_generic_estimator.html">GenericEstimator&lt; T &gt;</a></td></tr>
<tr class="memitem:a56fbd538769ad236cec667a0e38b57ee inherit pub_attribs_class_generic_estimator"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d1/d0d/struct_state_estimator_data.html">StateEstimatorData</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class LinearKFPositionVelocityEstimator&lt; T &gt;</h3>


<p>Definition at line <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00016">16</a> of file <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html">PositionVelocityEstimator.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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template&lt;typename T &gt; </div>
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          <td class="memname"><a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html">LinearKFPositionVelocityEstimator</a>&lt; T &gt;::<a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html">LinearKFPositionVelocityEstimator</a> </td>
          <td>(</td>
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<p>Definition at line <a class="el" href="../../d6/d39/_position_velocity_estimator_8cpp_source.html#l00051">51</a> of file <a class="el" href="../../d6/d39/_position_velocity_estimator_8cpp_source.html">PositionVelocityEstimator.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{}</div></div><!-- fragment -->
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void <a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html">LinearKFPositionVelocityEstimator</a>&lt; T &gt;::run </td>
          <td>(</td>
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<p>Implements <a class="el" href="../../d9/d0a/class_generic_estimator.html#a1fbd242842362c384a32f82739ab0f94">GenericEstimator&lt; T &gt;</a>.</p>

<p>Definition at line <a class="el" href="../../d6/d39/_position_velocity_estimator_8cpp_source.html#l00054">54</a> of file <a class="el" href="../../d6/d39/_position_velocity_estimator_8cpp_source.html">PositionVelocityEstimator.cpp</a>.</p>

<p>References <a class="el" href="../../dc/dd7/test__casadi_8cpp_source.html#l00202">f()</a>, and <a class="el" href="../../d3/dc7/_quadruped_8h_source.html#l00083">Quadruped&lt; T &gt;::getHipLocation()</a>.</p>
<div class="fragment"><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                                               {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  T process_noise_pimu =</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.parameters-&gt;imu_process_noise_position;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  T process_noise_vimu =</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.parameters-&gt;imu_process_noise_velocity;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  T process_noise_pfoot =</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.parameters-&gt;foot_process_noise_position;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  T sensor_noise_pimu_rel_foot =</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.parameters-&gt;foot_sensor_noise_position;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  T sensor_noise_vimu_rel_foot =</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.parameters-&gt;foot_sensor_noise_velocity;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  T sensor_noise_zfoot =</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.parameters-&gt;foot_height_sensor_noise;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  Eigen::Matrix&lt;T, 18, 18&gt; Q = Eigen::Matrix&lt;T, 18, 18&gt;::Identity();</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  Q.block(0, 0, 3, 3) = <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ad64c01c5946ece39909399d8c0cb08f1">_Q0</a>.block(0, 0, 3, 3) * process_noise_pimu;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  Q.block(3, 3, 3, 3) = <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ad64c01c5946ece39909399d8c0cb08f1">_Q0</a>.block(3, 3, 3, 3) * process_noise_vimu;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; 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 <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Rbod = this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.result-&gt;rBody.transpose();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> a = this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.result-&gt;aWorld +</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;              g;  <span class="comment">// in old code, Rbod * se_acc + g</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="comment">// std::cout &lt;&lt; &quot;A WORLD\n&quot; &lt;&lt; a &lt;&lt; &quot;\n&quot;;</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> pzs = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;</a> trusts = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> p0, v0;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  p0 &lt;&lt; <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac76b7ba72dc4685b9d02ecfea214ebbe">_xhat</a>[0], _xhat[1], _xhat[2];</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; 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 <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">_P</a> = (Eigen::Matrix&lt;T, 18, 18&gt;::Identity() - Pm * Ct * S_C) * Pm;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  Eigen::Matrix&lt;T, 18, 18&gt; Pt = <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">_P</a>.transpose();</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">_P</a> = (<a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">_P</a> + Pt) / T(2);</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">_P</a>.block(0, 0, 2, 2).determinant() &gt; T(0.000001)) {</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">_P</a>.block(0, 2, 2, 16).setZero();</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">_P</a>.block(2, 0, 16, 2).setZero();</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">_P</a>.block(0, 0, 2, 2) /= T(10);</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  }</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.result-&gt;position = _xhat.block(0, 0, 3, 1);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.result-&gt;vWorld = _xhat.block(3, 0, 3, 1);</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.result-&gt;vBody =</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.result-&gt;rBody *</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.result-&gt;vWorld;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div><div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00056">Quadruped.h:56</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ab9718e7e2b7b50aaa897c9d7c188ff53"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ab9718e7e2b7b50aaa897c9d7c188ff53">LinearKFPositionVelocityEstimator::_R0</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 28, 28 &gt; _R0</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00030">PositionVelocityEstimator.h:30</a></div></div>
<div class="ttc" id="class_quadruped_html_a594bd8c71ee8f6c388501b4c463d26b2"><div class="ttname"><a href="../../dc/d66/class_quadruped.html#a594bd8c71ee8f6c388501b4c463d26b2">Quadruped::getHipLocation</a></div><div class="ttdeci">Vec3&lt; T &gt; getHipLocation(int leg)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dc7/_quadruped_8h_source.html#l00083">Quadruped.h:83</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ac348c53b1045126d25f36e77cf5f946a"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">LinearKFPositionVelocityEstimator::_P</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 18 &gt; _P</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00029">PositionVelocityEstimator.h:29</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ac76b7ba72dc4685b9d02ecfea214ebbe"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac76b7ba72dc4685b9d02ecfea214ebbe">LinearKFPositionVelocityEstimator::_xhat</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 1 &gt; _xhat</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00024">PositionVelocityEstimator.h:24</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a99444a1a5c61d86da6c17a42591521cf"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">LinearKFPositionVelocityEstimator::_A</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 18 &gt; _A</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00027">PositionVelocityEstimator.h:27</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a738072d0d6a7a632be68f6261501826b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Vec4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00030">cppTypes.h:30</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a5126ad3aca4468ee6c770a62bf8fa09f"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5126ad3aca4468ee6c770a62bf8fa09f">LinearKFPositionVelocityEstimator::_C</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 28, 18 &gt; _C</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00032">PositionVelocityEstimator.h:32</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a6b6067ad1d05d06aba1c8e74790fc6fc"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a6b6067ad1d05d06aba1c8e74790fc6fc">LinearKFPositionVelocityEstimator::_ps</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 1 &gt; _ps</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00025">PositionVelocityEstimator.h:25</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a575646ecd05c8a10ccaded17c864fb4a"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a575646ecd05c8a10ccaded17c864fb4a">LinearKFPositionVelocityEstimator::_B</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 3 &gt; _B</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00031">PositionVelocityEstimator.h:31</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ad64c01c5946ece39909399d8c0cb08f1"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ad64c01c5946ece39909399d8c0cb08f1">LinearKFPositionVelocityEstimator::_Q0</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 18 &gt; _Q0</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00028">PositionVelocityEstimator.h:28</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a8fd165d0d57d1a13849922a6135b35d0"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a8fd165d0d57d1a13849922a6135b35d0">LinearKFPositionVelocityEstimator::_vs</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 1 &gt; _vs</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00026">PositionVelocityEstimator.h:26</a></div></div>
<div class="ttc" id="class_generic_estimator_html_a56fbd538769ad236cec667a0e38b57ee"><div class="ttname"><a href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">GenericEstimator::_stateEstimatorData</a></div><div class="ttdeci">StateEstimatorData&lt; T &gt; _stateEstimatorData</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00081">StateEstimatorContainer.h:81</a></div></div>
<div class="ttc" id="test__casadi_8cpp_html_ae20d7fba59865a21504b65cdb44cbfe5"><div class="ttname"><a href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a></div><div class="ttdeci">MX f(const MX &amp;x, const MX &amp;u)</div><div class="ttdef"><b>Definition:</b> <a href="../../dc/dd7/test__casadi_8cpp_source.html#l00202">test_casadi.cpp:202</a></div></div>
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template&lt;typename T &gt; </div>
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          <td class="memname">void <a class="el" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html">LinearKFPositionVelocityEstimator</a>&lt; T &gt;::setup </td>
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<p>Implements <a class="el" href="../../d9/d0a/class_generic_estimator.html#ab8fc58a346eb655892735c36b67648ce">GenericEstimator&lt; T &gt;</a>.</p>

<p>Definition at line <a class="el" href="../../d6/d39/_position_velocity_estimator_8cpp_source.html#l00004">4</a> of file <a class="el" href="../../d6/d39/_position_velocity_estimator_8cpp_source.html">PositionVelocityEstimator.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;                                                 {</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;  printf(<span class="stringliteral">&quot;beans 0x%lx\n&quot;</span>, (uint64_t)<span class="keyword">this</span>);</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;  printf(<span class="stringliteral">&quot;beans2 0x%lx\n&quot;</span>, (uint64_t) &amp; (this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>));</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;  printf(<span class="stringliteral">&quot;beans3 0x%lx\n&quot;</span>, (uint64_t)(this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.parameters));</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;  printf(<span class="stringliteral">&quot;beans4 0x%lx\n&quot;</span>,</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;         (uint64_t) &amp; (this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.parameters-&gt;controller_dt));</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  T dt = this-&gt;<a class="code" href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">_stateEstimatorData</a>.parameters-&gt;controller_dt;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;  printf(<span class="stringliteral">&quot;Initialize LinearKF State Estimator with dt = %.3f\n&quot;</span>, dt);</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac76b7ba72dc4685b9d02ecfea214ebbe">_xhat</a>.setZero();</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a6b6067ad1d05d06aba1c8e74790fc6fc">_ps</a>.setZero();</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a8fd165d0d57d1a13849922a6135b35d0">_vs</a>.setZero();</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">_A</a>.setZero();</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">_A</a>.block(0, 0, 3, 3) = Eigen::Matrix&lt;T, 3, 3&gt;::Identity();</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">_A</a>.block(0, 3, 3, 3) = dt * Eigen::Matrix&lt;T, 3, 3&gt;::Identity();</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">_A</a>.block(3, 3, 3, 3) = Eigen::Matrix&lt;T, 3, 3&gt;::Identity();</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">_A</a>.block(6, 6, 12, 12) = Eigen::Matrix&lt;T, 12, 12&gt;::Identity();</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a575646ecd05c8a10ccaded17c864fb4a">_B</a>.setZero();</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a575646ecd05c8a10ccaded17c864fb4a">_B</a>.block(3, 0, 3, 3) = dt * Eigen::Matrix&lt;T, 3, 3&gt;::Identity();</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  Eigen::Matrix&lt;T, Eigen::Dynamic, Eigen::Dynamic&gt; C1(3, 6);</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  C1 &lt;&lt; Eigen::Matrix&lt;T, 3, 3&gt;::Identity(), Eigen::Matrix&lt;T, 3, 3&gt;::Zero();</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  Eigen::Matrix&lt;T, Eigen::Dynamic, Eigen::Dynamic&gt; C2(3, 6);</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  C2 &lt;&lt; Eigen::Matrix&lt;T, 3, 3&gt;::Zero(), Eigen::Matrix&lt;T, 3, 3&gt;::Identity();</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5126ad3aca4468ee6c770a62bf8fa09f">_C</a>.setZero();</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5126ad3aca4468ee6c770a62bf8fa09f">_C</a>.block(0, 0, 3, 6) = C1;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; 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<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ac348c53b1045126d25f36e77cf5f946a"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac348c53b1045126d25f36e77cf5f946a">LinearKFPositionVelocityEstimator::_P</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 18 &gt; _P</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00029">PositionVelocityEstimator.h:29</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ac76b7ba72dc4685b9d02ecfea214ebbe"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ac76b7ba72dc4685b9d02ecfea214ebbe">LinearKFPositionVelocityEstimator::_xhat</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 1 &gt; _xhat</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00024">PositionVelocityEstimator.h:24</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a99444a1a5c61d86da6c17a42591521cf"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a99444a1a5c61d86da6c17a42591521cf">LinearKFPositionVelocityEstimator::_A</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 18 &gt; _A</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00027">PositionVelocityEstimator.h:27</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a5126ad3aca4468ee6c770a62bf8fa09f"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a5126ad3aca4468ee6c770a62bf8fa09f">LinearKFPositionVelocityEstimator::_C</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 28, 18 &gt; _C</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00032">PositionVelocityEstimator.h:32</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a6b6067ad1d05d06aba1c8e74790fc6fc"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a6b6067ad1d05d06aba1c8e74790fc6fc">LinearKFPositionVelocityEstimator::_ps</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 1 &gt; _ps</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00025">PositionVelocityEstimator.h:25</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a575646ecd05c8a10ccaded17c864fb4a"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a575646ecd05c8a10ccaded17c864fb4a">LinearKFPositionVelocityEstimator::_B</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 3 &gt; _B</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00031">PositionVelocityEstimator.h:31</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_ad64c01c5946ece39909399d8c0cb08f1"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#ad64c01c5946ece39909399d8c0cb08f1">LinearKFPositionVelocityEstimator::_Q0</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 18, 18 &gt; _Q0</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00028">PositionVelocityEstimator.h:28</a></div></div>
<div class="ttc" id="class_linear_k_f_position_velocity_estimator_html_a8fd165d0d57d1a13849922a6135b35d0"><div class="ttname"><a href="../../d1/d83/class_linear_k_f_position_velocity_estimator.html#a8fd165d0d57d1a13849922a6135b35d0">LinearKFPositionVelocityEstimator::_vs</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 1 &gt; _vs</div><div class="ttdef"><b>Definition:</b> <a href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00026">PositionVelocityEstimator.h:26</a></div></div>
<div class="ttc" id="class_generic_estimator_html_a56fbd538769ad236cec667a0e38b57ee"><div class="ttname"><a href="../../d9/d0a/class_generic_estimator.html#a56fbd538769ad236cec667a0e38b57ee">GenericEstimator::_stateEstimatorData</a></div><div class="ttdeci">StateEstimatorData&lt; T &gt; _stateEstimatorData</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/d87/_state_estimator_container_8h_source.html#l00081">StateEstimatorContainer.h:81</a></div></div>
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<p>Definition at line <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00032">32</a> of file <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html">PositionVelocityEstimator.h</a>.</p>

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<p>Definition at line <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00025">25</a> of file <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html">PositionVelocityEstimator.h</a>.</p>

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<p>Definition at line <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00028">28</a> of file <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html">PositionVelocityEstimator.h</a>.</p>

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<p>Definition at line <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00030">30</a> of file <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html">PositionVelocityEstimator.h</a>.</p>

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<p>Definition at line <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00026">26</a> of file <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html">PositionVelocityEstimator.h</a>.</p>

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<p>Definition at line <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html#l00024">24</a> of file <a class="el" href="../../df/ddd/_position_velocity_estimator_8h_source.html">PositionVelocityEstimator.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
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